From d2d8fd54a765be592ae81c11b2905c8672a7883f Mon Sep 17 00:00:00 2001
From: Andrey Pohilko <apc4@ya.ru>
Date: Thu, 14 Sep 2017 19:55:30 +0300
Subject: [PATCH] Working on color and distance sensor
---
demo.py | 23 ++++++++++++++---
pylgbst/__init__.py | 57 +++++++++++++++++++++--------------------
pylgbst/constants.py | 4 +--
pylgbst/peripherals.py | 58 +++++++++++++++++++++++++++++++-----------
tests.py | 28 ++++++++++++++------
5 files changed, 114 insertions(+), 56 deletions(-)
diff --git a/demo.py b/demo.py
index 806dbaa..c02ecad 100644
--- a/demo.py
+++ b/demo.py
@@ -24,7 +24,7 @@ def demo_tilt_sensor_simple(movehub):
def demo_tilt_sensor_precise(movehub):
log.info("Tilt sensor precise test. Turn device in different ways.")
demo_tilt_sensor_simple.cnt = 0
- limit = 100
+ limit = 50
def callback(pitch, roll, yaw):
demo_tilt_sensor_simple.cnt += 1
@@ -40,7 +40,7 @@ def demo_tilt_sensor_precise(movehub):
def demo_led_colors(movehub):
# LED colors demo
log.info("LED colors demo")
- for color in COLORS.keys():
+ for color in COLORS.keys()[1:] + [COLOR_BLACK]:
log.info("Setting LED color to: %s", COLORS[color])
movehub.led.set_color(color)
sleep(1)
@@ -110,6 +110,22 @@ def vernie_head(movehub):
sleep(2)
+def demo_color_sensor(movehub):
+ log.info("Color sensor test: give it 3 things to detect color")
+ demo_color_sensor.cnt = 0
+
+ def callback(color, distance):
+ demo_color_sensor.cnt += 1
+ clr = COLORS[color] if color in COLORS else None
+ log.info("#%s: Color %s, distance %s", demo_color_sensor.cnt, clr, distance)
+
+ movehub.color_distance_sensor.subscribe(callback)
+ while demo_color_sensor.cnt < 300:
+ time.sleep(1)
+
+ movehub.color_distance_sensor.unsubscribe(callback)
+
+
def demo_all(movehub):
demo_led_colors(movehub)
demo_motors_timed(movehub)
@@ -117,6 +133,7 @@ def demo_all(movehub):
demo_port_cd_motor(movehub)
demo_tilt_sensor_simple(movehub)
demo_tilt_sensor_precise(movehub)
+ demo_color_sensor(movehub)
if __name__ == '__main__':
@@ -129,7 +146,7 @@ if __name__ == '__main__':
connection = BLEConnection().connect()
hub = MoveHub(connection)
- demo_tilt_sensor_precise(hub)
+ demo_color_sensor(hub)
# demo_all(hub)
diff --git a/pylgbst/__init__.py b/pylgbst/__init__.py
index e006f1e..ea6ee25 100644
--- a/pylgbst/__init__.py
+++ b/pylgbst/__init__.py
@@ -7,12 +7,12 @@ log = logging.getLogger('movehub')
class MoveHub(object):
"""
- :type connection: pylegoboost.comms.Connection
+ :type connection: pylgbst.comms.Connection
:type devices: dict[int,Peripheral]
:type led: LED
:type tilt_sensor: TiltSensor
:type button: Button
- :type color_distance_sensor: ColorDistanceSensor
+ :type color_distance_sensor: pylgbst.peripherals.ColorDistanceSensor
:type external_motor: EncodedMotor
:type port_C: Peripheral
:type port_D: Peripheral
@@ -67,35 +67,36 @@ class MoveHub(object):
"""
orig = data
- if handle == MOVE_HUB_HARDWARE_HANDLE:
- data = data[3:]
- log.debug("Notification on %s: %s", handle, str2hex(orig))
-
- msg_type = get_byte(data, 2)
-
- if msg_type == MSG_PORT_INFO:
- self._handle_port_info(data)
- elif msg_type == MSG_PORT_STATUS:
- self._handle_port_status(data)
- elif msg_type == MSG_SENSOR_DATA:
- self._handle_sensor_data(data)
- elif msg_type == MSG_SENSOR_SUBSCRIBE_ACK:
- log.debug("Sensor subscribe ack on port %s", PORTS[get_byte(data, 3)])
- elif msg_type == MSG_PORT_CMD_ERROR:
- log.warning("Command error: %s", str2hex(data[3:]))
- else:
- log.warning("Unhandled msg type 0x%x: %s", msg_type, str2hex(orig))
- else:
+ if handle != MOVE_HUB_HARDWARE_HANDLE:
log.warning("Unsupported notification handle: 0x%s", handle)
+ return
+
+ data = data[3:]
+ log.debug("Notification on %s: %s", handle, str2hex(orig))
+
+ msg_type = get_byte(data, 2)
+
+ if msg_type == MSG_PORT_INFO:
+ self._handle_port_info(data)
+ elif msg_type == MSG_PORT_STATUS:
+ self._handle_port_status(data)
+ elif msg_type == MSG_SENSOR_DATA:
+ self._handle_sensor_data(data)
+ elif msg_type == MSG_SENSOR_SUBSCRIBE_ACK:
+ log.debug("Sensor subscribe ack on port %s", PORTS[get_byte(data, 3)])
+ elif msg_type == MSG_PORT_CMD_ERROR:
+ log.warning("Command error: %s", str2hex(data[3:]))
+ else:
+ log.warning("Unhandled msg type 0x%x: %s", msg_type, str2hex(orig))
def _handle_sensor_data(self, data):
port = get_byte(data, 3)
if port not in self.devices:
log.warning("Notification on port with no device: %s", PORTS[port])
return
- sensor = self.devices[port]
- if isinstance(sensor, TiltSensor):
- sensor.handle_notification(data)
+
+ device = self.devices[port]
+ device.handle_notification(data)
def _handle_port_status(self, data):
port = get_byte(data, 3)
@@ -122,11 +123,11 @@ class MoveHub(object):
if dev_type == TYPE_MOTOR:
self.devices[port] = EncodedMotor(self, port)
elif dev_type == TYPE_IMOTOR:
- self.devices[port] = EncodedMotor(self, port)
- self.external_motor = self.devices[port]
+ self.external_motor = EncodedMotor(self, port)
+ self.devices[port] = self.external_motor
elif dev_type == TYPE_DISTANCE_COLOR_SENSOR:
- self.devices[port] = ColorDistanceSensor(self, port)
- self.color_distance_sensor = self.devices[port]
+ self.color_distance_sensor = ColorDistanceSensor(self, port)
+ self.devices[port] = self.color_distance_sensor
elif dev_type == TYPE_LED:
self.devices[port] = LED(self, port)
elif dev_type == TYPE_TILT_SENSOR:
diff --git a/pylgbst/constants.py b/pylgbst/constants.py
index ff121b1..20a7d18 100644
--- a/pylgbst/constants.py
+++ b/pylgbst/constants.py
@@ -10,7 +10,7 @@ ENABLE_NOTIFICATIONS_VALUE = b'\x01\x00'
PACKET_VER = 0x01
# COLORS
-COLOR_OFF = 0x00
+COLOR_BLACK = 0x00
COLOR_PINK = 0x01
COLOR_PURPLE = 0x02
COLOR_BLUE = 0x03
@@ -22,7 +22,7 @@ COLOR_ORANGE = 0x09
COLOR_RED = 0x09
COLOR_WHITE = 0x0a
COLORS = {
- COLOR_OFF: "OFF",
+ COLOR_BLACK: "BLACK",
COLOR_PINK: "PINK",
COLOR_PURPLE: "PURPLE",
COLOR_BLUE: "BLUE",
diff --git a/pylgbst/peripherals.py b/pylgbst/peripherals.py
index e6b9551..b62ad52 100644
--- a/pylgbst/peripherals.py
+++ b/pylgbst/peripherals.py
@@ -2,7 +2,7 @@ import logging
import struct
import time
-from pylgbst import get_byte, int2byte
+from pylgbst import get_byte, int2byte, str2hex
from pylgbst.constants import *
log = logging.getLogger('peripherals')
@@ -33,10 +33,6 @@ class Peripheral(object):
self.parent.connection.write(MOVE_HUB_HARDWARE_HANDLE,
int2byte(len(cmd) + 1) + cmd) # should we +1 cmd len here?
- def _set_port_val(self, value):
- # FIXME: became obsolete
- self._write_to_hub(MSG_SET_PORT_VAL, value)
-
def started(self):
self.working = True
@@ -47,14 +43,21 @@ class Peripheral(object):
for subscriber in self._subscribers:
subscriber(*args, **kwargs)
+ def handle_notification(self, data):
+ log.warning("Unhandled device notification for %s: %s", self, str2hex(data))
+
class LED(Peripheral):
def set_color(self, color):
if color not in COLORS:
raise ValueError("Color %s is not in list of available colors" % color)
- cmd = b'\x11\x51\x00' + int2byte(color)
- self._set_port_val(cmd)
+ cmd = b'\xFF\x51\x00' + int2byte(color)
+ self._write_to_hub(MSG_SET_PORT_VAL, cmd)
+
+ def finished(self):
+ super(LED, self).finished()
+ log.debug("LED has changed color")
class EncodedMotor(Peripheral):
@@ -89,7 +92,7 @@ class EncodedMotor(Peripheral):
command += self.TRAILER
- self._set_port_val(command)
+ self._write_to_hub(MSG_SET_PORT_VAL, command)
def timed(self, seconds, speed_primary=1, speed_secondary=None, async=False):
if speed_secondary is None:
@@ -128,19 +131,22 @@ class TiltSensor(Peripheral):
super(TiltSensor, self).__init__(parent, port)
self.mode = None
- def subscribe(self, callback, mode=TILT_SENSOR_MODE_BASIC, threshold=1):
+ def subscribe(self, callback, mode=TILT_SENSOR_MODE_BASIC, granularity=1):
self.mode = mode
+
params = int2byte(self.mode)
- params += int2byte(threshold)
+ params += int2byte(granularity)
params += self.TRAILER
params += int2byte(1) # enable
- self._write_to_hub(MSG_SENSOR_SUBSCRIBE, params + self.TRAILER)
+ self._write_to_hub(MSG_SENSOR_SUBSCRIBE, params)
self._subscribers.add(callback)
- def unsubscribe(self, callback):
- self._subscribers.remove(callback)
+ def unsubscribe(self, callback=None):
+ if callback in self._subscribers:
+ self._subscribers.remove(callback)
+
if not self._subscribers:
- self._write_to_hub(MSG_SENSOR_SUBSCRIBE, int2byte(self.mode) + self.TRAILER + int2byte(0))
+ self._write_to_hub(MSG_SENSOR_SUBSCRIBE, int2byte(self.mode) + b'\x00\x00\x00' + int2byte(0))
def handle_notification(self, data):
if self.mode == TILT_SENSOR_MODE_BASIC:
@@ -173,7 +179,29 @@ class TiltSensor(Peripheral):
class ColorDistanceSensor(Peripheral):
- pass
+ def subscribe(self, callback):
+ params = b'\x08\x01\x00\x00\x00'
+ params += int2byte(1) # enable
+ self._write_to_hub(MSG_SENSOR_SUBSCRIBE, params)
+ self._subscribers.add(callback)
+
+ def unsubscribe(self, callback=None):
+ if callback in self._subscribers:
+ self._subscribers.remove(callback)
+
+ if not self._subscribers:
+ self._write_to_hub(MSG_SENSOR_SUBSCRIBE, b'\x08\x01\x00\x00\x00' + int2byte(0))
+
+ def handle_notification(self, data):
+ color = get_byte(data, 4)
+ distance = get_byte(data, 5)
+ partial = get_byte(data, 7)
+ if partial:
+ distance += 1.0 / partial
+ self._notify_subscribers(color if color != 0xFF else None, float(distance))
+
+
+# 0a00 41 01 01 enable
class Button(Peripheral):
diff --git a/tests.py b/tests.py
index 72a1032..a47005a 100644
--- a/tests.py
+++ b/tests.py
@@ -1,12 +1,6 @@
-import logging
-import time
import unittest
-from threading import Thread
-from pylgbst import MoveHub, COLOR_RED, LED, EncodedMotor, PORT_AB
-from pylgbst.comms import Connection, str2hex, hex2str
-from pylgbst.constants import PORT_LED, TILT_STATES, TILT_SENSOR_MODE_2AXIS_FULL, TILT_SENSOR_MODE_2AXIS_SIMPLE, \
- MOVE_HUB_HARDWARE_HANDLE
+from pylgbst import *
HANDLE = MOVE_HUB_HARDWARE_HANDLE
@@ -103,7 +97,7 @@ class GeneralTest(unittest.TestCase):
self._wait_notifications_handled(hub)
hub.tilt_sensor.unsubscribe(callback)
- # self.assertEquals("0a01413a000100000001", hub.connection.writes[0][1])
+ # TODO: assert
def test_motor(self):
conn = ConnectionMock()
@@ -132,3 +126,21 @@ class GeneralTest(unittest.TestCase):
hub = MoveHub(conn)
# demo_all(hub)
self._wait_notifications_handled(hub)
+
+ def test_color_sensor(self):
+ #
+ hub = HubMock()
+ hub.connection.notifications.append((HANDLE, '1b0e000f0004010125000000001000000010'))
+ time.sleep(1)
+
+ def callback(color, unk1, unk2):
+ name = COLORS[color] if color is not None else 'NONE'
+ log.info("Color: %s %s %s", name, unk1, unk2)
+
+ hub.color_distance_sensor.subscribe(callback)
+
+ hub.connection.notifications.append((HANDLE, "1b0e0008004501ff0aff00"))
+ time.sleep(1)
+ # TODO: assert
+ self._wait_notifications_handled(hub)
+ hub.color_distance_sensor.unsubscribe(callback)